Functional Requirements
F1. | The system shall localize agents in a given map |
F2. | The system shall route agents and avoid collisions |
F3. | The system shall sense gaps and determine their feasibility |
F4. | The system shall determine and achieve coupled configurations |
F5. | The system shall cross gaps |
F6. | The system shall reach given regions of interest |
Performance Requirements
P1. | The system will deem gaps upto 1.5 agent lengths feasible |
P2. | The system will have 0 unplanned collisions between agents |
P3. | The system will achieve formations with at least 3 robots |
P4. | The system will cross feasible gaps 75% of the time |
P5. | The system will reach all POIs 75% of the time |
P6. | The coupling mechanism will bear the weight of one agent |
Non-Functional Requirements
N1. | The weight of an agent shall be minimal |
N2. | The coupling mechanism shall consume a low amount of energy |
N3. | The system shall be expandable |
N4. | The system shall be easily maintainable |
N5. | The team shall maximize learning and fun throughout the project |
Functional Architecture
System
![](https://mrsdprojects.ri.cmu.edu/2023teama/wp-content/uploads/sites/65/2023/02/Oct-31-Functional-Requirements-and-Objective-Tree-Draft-Page-1.png)
Agent
![](https://mrsdprojects.ri.cmu.edu/2023teama/wp-content/uploads/sites/65/2023/02/fa_agent-1024x754.png)
Server
![](https://mrsdprojects.ri.cmu.edu/2023teama/wp-content/uploads/sites/65/2023/02/fa_server-1024x683.png)
Cyber-physical Architecture
Agent
![](https://mrsdprojects.ri.cmu.edu/2023teama/wp-content/uploads/sites/65/2023/02/Cyberphysical-Architecture-Agent-1024x608.png)
Server
![](https://mrsdprojects.ri.cmu.edu/2023teama/wp-content/uploads/sites/65/2023/02/Cyberphysical-Architecture-Server-1024x526.png)